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Linear interpolation based controller design for trajectory tracking under uncertainties: Application to mobile robots

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Linear interpolation based controller design for trajectory tracking under uncertainties: Application to mobile robots

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Nombre: Scaglia;Serrano;R ...
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dc.contributor.author Scaglia, Gustavo es_ES
dc.contributor.author Serrano, Emanuel es_ES
dc.contributor.author Rosales, Andres es_ES
dc.contributor.author Albertos Pérez, Pedro es_ES
dc.date.accessioned 2020-09-19T03:33:42Z
dc.date.available 2020-09-19T03:33:42Z
dc.date.issued 2015-12 es_ES
dc.identifier.issn 0967-0661 es_ES
dc.identifier.uri http://hdl.handle.net/10251/150422
dc.description.abstract [EN] The problem of trajectory tracking control in mobile robots under uncertainties is addressed in this paper. Following the results of mobile robots trajectory tracking reported in (Scaglia et al., 2010), the problem of model errors is focused and the zero convergence of tracking errors under polynomial uncertainties is demonstrated. A simple scheme is obtained, which can be easily implemented. Simulation and experimental results are presented and discussed, showing the good performance of the controller. (C) 2015 Elsevier Ltd. All rights reserved. es_ES
dc.description.sponsorship This work was partially funded by the Consejo Nacional de Investigaciones Cientificas y Tecnicas (CONICET - National Council for Scientific Research), Argentina, the Escuela Politecnica Nacional del Ecuador (Facultad de Ingenieria Electrica y Electronica), and the Secretaria Nacional de Educacion Superior, Ciencia y Tecnologia (SENESCYT) through Prometeo Program. es_ES
dc.language Inglés es_ES
dc.publisher Elsevier es_ES
dc.relation.ispartof Control Engineering Practice es_ES
dc.rights Reserva de todos los derechos es_ES
dc.subject Tracking control es_ES
dc.subject Difference equations es_ES
dc.subject Uncertainties es_ES
dc.subject Non-linear multivariable control es_ES
dc.subject Mobile robot es_ES
dc.subject.classification INGENIERIA DE SISTEMAS Y AUTOMATICA es_ES
dc.title Linear interpolation based controller design for trajectory tracking under uncertainties: Application to mobile robots es_ES
dc.type Artículo es_ES
dc.identifier.doi 10.1016/j.conengprac.2015.09.010 es_ES
dc.rights.accessRights Cerrado es_ES
dc.description.bibliographicCitation Scaglia, G.; Serrano, E.; Rosales, A.; Albertos Pérez, P. (2015). Linear interpolation based controller design for trajectory tracking under uncertainties: Application to mobile robots. Control Engineering Practice. 45:123-132. https://doi.org/10.1016/j.conengprac.2015.09.010 es_ES
dc.description.accrualMethod S es_ES
dc.relation.publisherversion https://doi.org/10.1016/j.conengprac.2015.09.010 es_ES
dc.description.upvformatpinicio 123 es_ES
dc.description.upvformatpfin 132 es_ES
dc.type.version info:eu-repo/semantics/publishedVersion es_ES
dc.description.volume 45 es_ES
dc.relation.pasarela S\320462 es_ES
dc.contributor.funder Escuela Politécnica Nacional, Ecuador es_ES
dc.contributor.funder Consejo Nacional de Investigaciones Científicas y Técnicas, Argentina es_ES
dc.contributor.funder Secretaría de Educación Superior, Ciencia, Tecnología e Innovación, Ecuador es_ES


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